Robust Adaptive Control of Robot Manipulators
نویسندگان
چکیده
In this article, a new combined adaptive method is used for a two-link robot. One of the advantages of proposed controller is that it does not depend on the exact parameters such as joints weight. Also the controller can reach itself to real parameters. In many applications of robots in industry the weight and moment of inertia are changed intentionally and it would not be an easy task for the controller to identify these changes and adapt itself. Thus, we will use the adaptive method to converge the parameters to constant values. It has been shown that the adaptive method is not robust at the present of the external disturbance and unmodeled dynamic. Therefor we employ fuzzy system to estimate and compensate of this uncertainty. Subsequently, the results will show that proposed controller is robust against uncertainties.
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